# Copyright (c) 2017, United States Government, as represented by the
# Administrator of the National Aeronautics and Space Administration.
#
# All rights reserved.
#
# The Astrobee platform is licensed under the Apache License, Version 2.0
# (the "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.

cmake_minimum_required(VERSION 3.0)
project(vive_localization)

## Compile as C++14, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

## Find catkin macros and libraries
find_package(catkin2 REQUIRED COMPONENTS
  roscpp
  rosbag
  nodelet
  geometry_msgs
  ff_hw_msgs
  ff_util
  msg_conversions
  config_reader
)

# Find Eigen3
find_package(Eigen3 REQUIRED)

# Find OpenCV
find_package(OpenCV 4.0 REQUIRED)

# Non-linear optimizer
find_package(Ceres REQUIRED)

# What this project provides
catkin_package(
  LIBRARIES
    vive_localization
  CATKIN_DEPENDS
    roscpp
    rosbag
    nodelet
    ff_hw_msgs
    ff_util
    msg_conversions
    config_reader
)

###########
## Build ##
###########

# Specify additional locations of header files
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
  ${OpenCV_INCLUDE_DIRS}
  ${CERES_INCLUDE_DIRS}
)

# Declare C++ libraries
add_library(vive_localization
  src/vive.cc
  src/vive_solver.cc
  src/tool/vive_offline.cc
)
add_dependencies(vive_localization ${catkin_EXPORTED_TARGETS})
target_link_libraries(vive_localization json-c usb-1.0 z ${catkin_LIBRARIES})

## Declare a C++ executable: vive_offline
add_executable(vive_offline src/tool/vive_offline.cc)
add_dependencies(vive_offline ${catkin_EXPORTED_TARGETS})
target_link_libraries(vive_offline
  vive_localization gflags ${OpenCV_LIBRARIES} ${CERES_LIBRARIES} ${catkin_LIBRARIES})

#############
## Install ##
#############

# Mark libraries for installation
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

# Mark nodelet_plugin for installation
install(FILES nodelet_plugins.xml
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

# Install C++ executables
install(TARGETS vive_offline DESTINATION bin)
install(CODE "execute_process(
  COMMAND ln -s ../../bin/vive_offline share/${PROJECT_NAME}
  WORKING_DIRECTORY ${CMAKE_INSTALL_PREFIX}
  OUTPUT_QUIET
  ERROR_QUIET
  )")

# Mark launch files for installation
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  PATTERN ".svn" EXCLUDE)

install(DIRECTORY config/ DESTINATION config)
